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A five-bar-linkage force reflecting interface for a virtual reality system

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2 Author(s)
Ching, M. ; Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada ; Wang, D.W.L.

In this paper, we present an inexpensive force feedback virtual reality system using a 3-DOF five-bar-linkage manipulator. The direct drive manipulator has a gravity balanced structure. An implicit force control strategy is used to determine the virtual force feedback. The effects of virtual wall and virtual free space controllers are studied. A graphics system is developed to provide the visual feedback to the user. Experimental results are presented to show the user interaction with a virtual wall and a virtual object

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997

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